Development of a 6-DOF Observer for a Remotely Operated Underwater Vehicle

This repository suplements the thesis by Håvard Syslak and contains code for:

Implementations of three version of nonlinear Kalman filters:
- Uncented Kalman Filter on Manifolds
- Error State Extende Kalman filter
- Quaternion Uncented kalman filter
Data logging from the Blueye X3 using the Blueye SDK
Logging and streaming Foxglove Studio for live visualization

Name		Name	Last commit message	Last commit date
Latest commit History 131 Commits
adis_mcap		adis_mcap
esekf		esekf
images		images
mcap		mcap
mcap_plotting		mcap_plotting
notebooks		notebooks
plotting		plotting
qukf		qukf
tests		tests
ukfm		ukfm
.gitignore		.gitignore
.python-version		.python-version
01testing.mcap		01testing.mcap
README.md		README.md
be_telemetry.py		be_telemetry.py
filter_interface.py		filter_interface.py
foxglove_wrapper.py		foxglove_wrapper.py
istate.py		istate.py
lie.py		lie.py
main.py		main.py
mau.py		mau.py
measurement_models.py		measurement_models.py
messages.proto		messages.proto
messages_pb2.py		messages_pb2.py
orientation.py		orientation.py
pyproject.toml		pyproject.toml
schemas.py		schemas.py
sigma_points.py		sigma_points.py
telem_min_working.py		telem_min_working.py
test.mcap		test.mcap
tuning.md		tuning.md
tuning.py		tuning.py
ufk_test.mcap		ufk_test.mcap
utils.py		utils.py
uv.lock		uv.lock

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